parent
c4ef6240e7
commit
88cadcff40
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cmake_minimum_required(VERSION 2.8.3)
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project(xf_mic_asr_offline)
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add_compile_options(-std=c++11)
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## Compile as C++11, supported in ROS Kinetic and newer
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# add_compile_options(-std=c++11)
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set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g ")
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set (CMAKE_VERBOSE_MAKEFILE ON)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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rospy
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std_msgs
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message_generation
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tf
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)
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link_directories(
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lib/x64
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)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend tag for "message_generation"
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## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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## but can be declared for certainty nonetheless:
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## * add a exec_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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add_message_files(
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FILES
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Pcm_Msg.msg
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)
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add_message_files(
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FILES
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position.msg
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)
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## Generate services in the 'srv' folder
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add_service_files(
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FILES
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Get_Offline_Result_srv.srv
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Set_Major_Mic_srv.srv
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Get_Major_Mic_srv.srv
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Start_Record_srv.srv
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Set_Awake_Word_srv.srv
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Set_Led_On_srv.srv
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Get_Awake_Angle_srv.srv
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)
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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generate_messages(
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DEPENDENCIES
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std_msgs
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)
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################################################
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## Declare ROS dynamic reconfigure parameters ##
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################################################
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## To declare and build dynamic reconfigure parameters within this
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## package, follow these steps:
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## * In the file package.xml:
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## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
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## * In this file (CMakeLists.txt):
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## * add "dynamic_reconfigure" to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options(
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# cfg/DynReconf1.cfg
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# cfg/DynReconf2.cfg
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# )
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if your package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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CATKIN_DEPENDS message_runtime
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# INCLUDE_DIRS include
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# LIBRARIES xf_mic_api
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# CATKIN_DEPENDS roscpp rospy senor_msgs std_msgs
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# DEPENDS system_lib
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other location
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## Declare a C++ library
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## Add cmake target dependencies of the library
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## as an example, code may need to be generated before libraries
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## either from message generation or dynamic reconfigure
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# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Declare a C++ executable
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## With catkin_make all packages are built within a single CMake context
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## The recommended prefix ensures that target names across packages don't collide
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# add_executable(${PROJECT_NAME}_node src/xf_mic_package_node.cpp)
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## Rename C++ executable without prefix
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## The above recommended prefix causes long target names, the following renames the
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## target back to the shorter version for ease of user use
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## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
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# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
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## Add cmake target dependencies of the executable
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## same as for the library above
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# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Specify libraries to link a library or executable target against
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# target_link_libraries(${PROJECT_NAME}_node
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# ${catkin_LIBRARIES}
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# )
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#include_directories(
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# include
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# ${catkin_INCLUDE_DIRS}
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#)
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#add_executable(hid_test_auto src/hid_test_auto.cpp)
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#add_dependencies(
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# hid_test_auto
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# ${xf_mic_package_EXPORTED_TARGETS}
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# xf_mic_asr_offline_gencpp
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#)
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#target_link_libraries(hid_test_auto ${catkin_LIBRARIES} offline_record_lib hid_lib rt dl pthread stdc++ )
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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)
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add_executable(voice_control src/voice_control.cpp)
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add_dependencies(
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voice_control
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${xf_mic_package_EXPORTED_TARGETS}
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xf_mic_asr_offline_gencpp
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)
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target_link_libraries(voice_control ${catkin_LIBRARIES} offline_record_lib hid_lib rt dl pthread stdc++ )
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add_executable(record src/record.cpp)
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add_dependencies(
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record
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${xf_mic_package_EXPORTED_TARGETS}
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xf_mic_asr_offline_gencpp
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)
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target_link_libraries(record ${catkin_LIBRARIES} offline_record_lib hid_lib rt dl pthread stdc++ )
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add_executable(call_recognition src/call_recognition.cpp)
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add_dependencies(
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call_recognition
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${xf_mic_package_EXPORTED_TARGETS}
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xf_mic_asr_offline_gencpp
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)
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target_link_libraries(
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call_recognition
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${catkin_LIBRARIES}
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# offline_record_lib hid_lib rt dl pthread stdc++
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)
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add_executable(command_recognition
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src/command_recognition.cpp
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)
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add_dependencies(
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command_recognition
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${xf_mic_package_EXPORTED_TARGETS}
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xf_mic_asr_offline_gencpp
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)
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target_link_libraries(
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command_recognition
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${catkin_LIBRARIES}
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# -ldl -lpthread -lm -lrt -lasound
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)
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add_executable(motion_control
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src/motion_control.cpp
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)
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add_dependencies(
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motion_control
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${xf_mic_package_EXPORTED_TARGETS}
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xf_mic_asr_offline_gencpp
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)
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target_link_libraries(
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motion_control
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${catkin_LIBRARIES}
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# -ldl -lpthread -lm -lrt -lasound
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)
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add_executable(refresh_mic
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src/refresh_mic.cpp
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)
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add_dependencies(
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refresh_mic
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${xf_mic_package_EXPORTED_TARGETS}
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xf_mic_asr_offline_gencpp
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)
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target_link_libraries(
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refresh_mic
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${catkin_LIBRARIES}
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offline_record_lib hid_lib rt dl pthread stdc++
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-ldl -lpthread -lm -lrt -lasound
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)
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install(PROGRAMS
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scripts/go_to_specific_point_on_map.py
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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#add_executable(test
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# src/test.cpp
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#)
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#target_link_libraries(
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# test
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# ${catkin_LIBRARIES}
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# )
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# install(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables for installation
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## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
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# install(TARGETS ${PROJECT_NAME}_node
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark libraries for installation
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## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
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# install(TARGETS ${PROJECT_NAME}
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
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# )
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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||||
#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_xf_mic_package.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)
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@ -0,0 +1,31 @@
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# -*- coding: utf-8 -*-
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"""
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Created on Sat May 8 14:09:34 2021
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@author: 59866
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"""
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import wave
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import time
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import os
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def pcmToWav(in_file, out_file):
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in_file = open(in_file, 'rb')
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out_file = wave.open(out_file, 'wb')
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#out_file.setnchannels(int(input("plese input channels [1/2]: ")))
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#out_file.setframerate(int(input("plese input samplerate [32000]: ")))
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out_file.setnchannels(1)
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out_file.setframerate(16000)
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out_file.setsampwidth(2) #16-bit
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out_file.writeframesraw(in_file.read())
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in_file.close()
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out_file.close()
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print('>>>>>complete recording, start to compare.....')
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if __name__ == '__main__':
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#IN_FILE = input(r'input the file name: ')
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IN_FILE = ("/home/turtlebot/catkin_ws/src/xf_mic_asr_offline/audio/vvui_deno.pcm")
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OUT_FILE = ("/home/turtlebot/catkin_ws/src/xf_mic_asr_offline/audio/vvui_deno.wav")
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pcmToWav(IN_FILE, OUT_FILE)
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# -*- coding: utf-8 -*-
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"""
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Created on Sat May 8 14:09:34 2021
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@author: 59866
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"""
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import wave
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import time
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import os
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def pcmToWav(in_file, out_file):
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in_file = open(in_file, 'rb')
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out_file = wave.open(out_file, 'wb')
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#out_file.setnchannels(int(input("plese input channels [1/2]: ")))
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#out_file.setframerate(int(input("plese input samplerate [32000]: ")))
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out_file.setnchannels(1)
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out_file.setframerate(16000)
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out_file.setsampwidth(2) #16-bit
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out_file.writeframesraw(in_file.read())
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in_file.close()
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out_file.close()
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print('>>>>>complete recording, start to compare.....')
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if __name__ == '__main__':
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#IN_FILE = input(r'input the file name: ')
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IN_FILE = ("/home/turtlebot/catkin_ws/src/xf_mic_asr_offline/audio/vvui_deno.pcm")
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OUT_FILE = ("/home/turtlebot/catkin_ws/src/xf_mic_asr_offline/audio/vvui_deno.wav")
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pcmToWav(IN_FILE, OUT_FILE)
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confidence: 18
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seconds_per_order: 15
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appid: 5fa0b8b9
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appid: 7c6a4b39
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||||
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confidence: 18
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seconds_per_order: 15
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appid: 5fa0b8b9
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{"_16k":["call"],"_8k":[]}
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<launch>
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<rosparam command="load" file="$(find xf_mic_asr_offline)/config/appid_params.yaml" />
|
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|
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|
||||
|
||||
<arg name="package_path" default = "$(find xf_mic_asr_offline)" />
|
||||
<node pkg="xf_mic_asr_offline" type="refresh_mic" name="refresh_mic" />
|
||||
<node pkg="xf_mic_asr_offline" type="go_to_specific_point_on_map.py" name="navigation" />
|
||||
<node pkg="xf_mic_asr_offline" type="voice_control" name="xf_asr_offline_node" output="screen">
|
||||
<param name="source_path" type="string" value="$(find xf_mic_asr_offline)"/>
|
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</node>
|
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</launch>
|
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@ -0,0 +1,12 @@
|
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<launch>
|
||||
<rosparam command="load" file="$(find xf_mic_asr_offline)/config/appid_params.yaml" />
|
||||
|
||||
|
||||
|
||||
<arg name="package_path" default = "$(find xf_mic_asr_offline)" />
|
||||
<node pkg="xf_mic_asr_offline" type="refresh_mic" name="refresh_mic" />
|
||||
<node pkg="xf_mic_asr_offline" type="go_to_specific_point_on_map.py" name="navigation" />
|
||||
<node pkg="xf_mic_asr_offline" type="voice_control" name="xf_asr_offline_node" output="screen">
|
||||
<param name="source_path" type="string" value="$(find xf_mic_asr_offline)"/>
|
||||
</node>
|
||||
</launch>
|
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@ -0,0 +1,124 @@
|
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#!/usr/bin/env python
|
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# -*- coding: UTF-8 -*-
|
||||
# TurtleBot must have minimal.launch & amcl_demo.launch
|
||||
# running prior to starting this script
|
||||
# For simulation: launch gazebo world & amcl_demo prior to run this script
|
||||
|
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import rospy
|
||||
from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
|
||||
import actionlib
|
||||
from actionlib_msgs.msg import *
|
||||
from geometry_msgs.msg import Pose, Point, Quaternion
|
||||
#定义消息的类型
|
||||
from std_msgs.msg import Int32
|
||||
from std_msgs.msg import String
|
||||
import time
|
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angle_of_wakeup = 0
|
||||
# 回调函数
|
||||
def callback(data):
|
||||
angle_of_wakeup = data.data
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||||
rospy.loginfo(rospy.get_caller_id() + "I heard %d", data.data)
|
||||
# 赋值角度
|
||||
rospy.loginfo(rospy.get_caller_id() + "I heard angle: %d", angle_of_wakeup)
|
||||
# 定义订阅者节点
|
||||
def listener():
|
||||
rospy.Subscriber("/mic/awake/angle", Int32, callback)
|
||||
return True
|
||||
|
||||
class GoToPose():
|
||||
|
||||
def __init__(self):
|
||||
self.goal_sent = False
|
||||
|
||||
# What to do if shut down (e.g. Ctrl-C or failure)
|
||||
rospy.on_shutdown(self.shutdown)
|
||||
|
||||
# Tell the action client that we want to spin a thread by default
|
||||
self.move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction)
|
||||
rospy.loginfo("Wait for the action server to come up")
|
||||
|
||||
# Allow up to 10 seconds for the action server to come up
|
||||
self.move_base.wait_for_server(rospy.Duration(2))
|
||||
|
||||
def goto(self, pos, quat):
|
||||
|
||||
# Send a goal
|
||||
self.goal_sent = True
|
||||
goal = MoveBaseGoal()
|
||||
goal.target_pose.header.frame_id = 'map'
|
||||
goal.target_pose.header.stamp = rospy.Time.now()
|
||||
goal.target_pose.pose = Pose(Point(pos['x'], pos['y'], 0.000),
|
||||
Quaternion(quat['r1'], quat['r2'], quat['r3'], quat['r4']))
|
||||
|
||||
# Start moving
|
||||
self.move_base.send_goal(goal)
|
||||
|
||||
# Allow TurtleBot up to 60 seconds to complete task
|
||||
# Time to finish the navigation
|
||||
# by lcp 2021/7/1
|
||||
success = self.move_base.wait_for_result(rospy.Duration(60))
|
||||
|
||||
state = self.move_base.get_state()
|
||||
result = False
|
||||
|
||||
if success and state == GoalStatus.SUCCEEDED:
|
||||
# We made it!
|
||||
result = True
|
||||
else:
|
||||
self.move_base.cancel_goal()
|
||||
|
||||
self.goal_sent = False
|
||||
return result
|
||||
|
||||
def shutdown(self):
|
||||
if self.goal_sent:
|
||||
self.move_base.cancel_goal()
|
||||
rospy.loginfo("Stop")
|
||||
rospy.sleep(1)
|
||||
|
||||
if __name__ == '__main__':
|
||||
|
||||
try:
|
||||
rospy.init_node('nav_test', anonymous=True)
|
||||
#rospy.Subscriber("/mic/awake/angle", Int32, callback)
|
||||
|
||||
rospy.sleep(1)
|
||||
whether_stranger = False
|
||||
while not rospy.is_shutdown() and whether_stranger == False:
|
||||
data = rospy.wait_for_message("/mic/awake/angle", Int32, timeout=None)
|
||||
print(data.data)
|
||||
if data.data!=0:
|
||||
angle_of_wakeup = data.data
|
||||
whether_stranger = True;
|
||||
break;
|
||||
navigator = GoToPose()
|
||||
|
||||
# Customize the following values so they are appropriate for your location
|
||||
position_door = {'x': 1.33, 'y' : 3.3}
|
||||
# position_window = {'x' : -0.8, 'y' : -0.12}
|
||||
quaternion = {'r1' : 0.000, 'r2' : 0.000, 'r3' : 0.000, 'r4' : 1.000}
|
||||
|
||||
rospy.loginfo("Go to (%s, %s) pose", position_door['x'], position_door['y'])
|
||||
success = navigator.goto(position_door, quaternion)
|
||||
|
||||
# 发布小车是否到达的消息
|
||||
pub = rospy.Publisher('whether_reach', Int32, queue_size=10)
|
||||
if success:
|
||||
rospy.loginfo("Hooray, reached the desired pose")
|
||||
while not rospy.is_shutdown():
|
||||
|
||||
pub.publish(1)
|
||||
rospy.loginfo('yes')
|
||||
else:
|
||||
rospy.loginfo("The base failed to reach the desired pose")
|
||||
while not rospy.is_shutdown():
|
||||
|
||||
pub.publish(1)
|
||||
rospy.loginfo('no')
|
||||
|
||||
# Sleep to give the last log messages time to be sent
|
||||
|
||||
rospy.sleep(1)
|
||||
|
||||
except rospy.ROSInterruptException:
|
||||
rospy.loginfo("Ctrl-C caught. Quitting")
|
||||
@ -0,0 +1,124 @@
|
||||
#!/usr/bin/env python
|
||||
# -*- coding: UTF-8 -*-
|
||||
# TurtleBot must have minimal.launch & amcl_demo.launch
|
||||
# running prior to starting this script
|
||||
# For simulation: launch gazebo world & amcl_demo prior to run this script
|
||||
|
||||
import rospy
|
||||
from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
|
||||
import actionlib
|
||||
from actionlib_msgs.msg import *
|
||||
from geometry_msgs.msg import Pose, Point, Quaternion
|
||||
#定义消息的类型
|
||||
from std_msgs.msg import Int32
|
||||
from std_msgs.msg import String
|
||||
import time
|
||||
angle_of_wakeup = 0
|
||||
# 回调函数
|
||||
def callback(data):
|
||||
angle_of_wakeup = data.data
|
||||
rospy.loginfo(rospy.get_caller_id() + "I heard %d", data.data)
|
||||
# 赋值角度
|
||||
rospy.loginfo(rospy.get_caller_id() + "I heard angle: %d", angle_of_wakeup)
|
||||
# 定义订阅者节点
|
||||
def listener():
|
||||
rospy.Subscriber("/mic/awake/angle", Int32, callback)
|
||||
return True
|
||||
|
||||
class GoToPose():
|
||||
|
||||
def __init__(self):
|
||||
self.goal_sent = False
|
||||
|
||||
# What to do if shut down (e.g. Ctrl-C or failure)
|
||||
rospy.on_shutdown(self.shutdown)
|
||||
|
||||
# Tell the action client that we want to spin a thread by default
|
||||
self.move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction)
|
||||
rospy.loginfo("Wait for the action server to come up")
|
||||
|
||||
# Allow up to 10 seconds for the action server to come up
|
||||
self.move_base.wait_for_server(rospy.Duration(2))
|
||||
|
||||
def goto(self, pos, quat):
|
||||
|
||||
# Send a goal
|
||||
self.goal_sent = True
|
||||
goal = MoveBaseGoal()
|
||||
goal.target_pose.header.frame_id = 'map'
|
||||
goal.target_pose.header.stamp = rospy.Time.now()
|
||||
goal.target_pose.pose = Pose(Point(pos['x'], pos['y'], 0.000),
|
||||
Quaternion(quat['r1'], quat['r2'], quat['r3'], quat['r4']))
|
||||
|
||||
# Start moving
|
||||
self.move_base.send_goal(goal)
|
||||
|
||||
# Allow TurtleBot up to 60 seconds to complete task
|
||||
# Time to finish the navigation
|
||||
# by lcp 2021/7/1
|
||||
success = self.move_base.wait_for_result(rospy.Duration(60))
|
||||
|
||||
state = self.move_base.get_state()
|
||||
result = False
|
||||
|
||||
if success and state == GoalStatus.SUCCEEDED:
|
||||
# We made it!
|
||||
result = True
|
||||
else:
|
||||
self.move_base.cancel_goal()
|
||||
|
||||
self.goal_sent = False
|
||||
return result
|
||||
|
||||
def shutdown(self):
|
||||
if self.goal_sent:
|
||||
self.move_base.cancel_goal()
|
||||
rospy.loginfo("Stop")
|
||||
rospy.sleep(1)
|
||||
|
||||
if __name__ == '__main__':
|
||||
|
||||
try:
|
||||
rospy.init_node('nav_test', anonymous=True)
|
||||
#rospy.Subscriber("/mic/awake/angle", Int32, callback)
|
||||
|
||||
rospy.sleep(1)
|
||||
whether_stranger = False
|
||||
while not rospy.is_shutdown() and whether_stranger == False:
|
||||
data = rospy.wait_for_message("/mic/awake/angle", Int32, timeout=None)
|
||||
print(data.data)
|
||||
if data.data!=0:
|
||||
angle_of_wakeup = data.data
|
||||
whether_stranger = True;
|
||||
break;
|
||||
navigator = GoToPose()
|
||||
|
||||
# Customize the following values so they are appropriate for your location
|
||||
position_door = {'x': 1.33, 'y' : 3.3}
|
||||
# position_window = {'x' : -0.8, 'y' : -0.12}
|
||||
quaternion = {'r1' : 0.000, 'r2' : 0.000, 'r3' : 0.000, 'r4' : 1.000}
|
||||
|
||||
rospy.loginfo("Go to (%s, %s) pose", position_door['x'], position_door['y'])
|
||||
success = navigator.goto(position_door, quaternion)
|
||||
|
||||
# 发布小车是否到达的消息
|
||||
pub = rospy.Publisher('whether_reach', Int32, queue_size=10)
|
||||
if success:
|
||||
rospy.loginfo("Hooray, reached the desired pose")
|
||||
while not rospy.is_shutdown():
|
||||
|
||||
pub.publish(1)
|
||||
rospy.loginfo('yes')
|
||||
else:
|
||||
rospy.loginfo("The base failed to reach the desired pose")
|
||||
while not rospy.is_shutdown():
|
||||
|
||||
pub.publish(0)
|
||||
rospy.loginfo('no')
|
||||
|
||||
# Sleep to give the last log messages time to be sent
|
||||
|
||||
rospy.sleep(1)
|
||||
|
||||
except rospy.ROSInterruptException:
|
||||
rospy.loginfo("Ctrl-C caught. Quitting")
|
||||
@ -0,0 +1,6 @@
|
||||
#!/usr/bin/env python
|
||||
# -*- coding: UTF-8 -*-
|
||||
|
||||
import os
|
||||
|
||||
os.system("conda run python ~/Desktop/voiceprint-linux/infer_contrast.py")
|
||||
@ -0,0 +1,6 @@
|
||||
#!/usr/bin/env python
|
||||
# -*- coding: UTF-8 -*-
|
||||
|
||||
import os
|
||||
|
||||
os.system("conda run -n base python ~/Desktop/voiceprint-linux/infer_contrast.py")
|
||||
@ -0,0 +1,26 @@
|
||||
#!/usr/bin/env python
|
||||
# -*- coding: UTF-8 -*-
|
||||
|
||||
import rospy
|
||||
from std_msgs.msg import String
|
||||
resultstr = "no"
|
||||
def talker():
|
||||
pub = rospy.Publisher('chatter', String, queue_size=10)
|
||||
rospy.init_node('talker', anonymous=True)
|
||||
rate = rospy.Rate(10) # 10hz
|
||||
while not rospy.is_shutdown():
|
||||
rospy.loginfo(resultstr)
|
||||
pub.publish(resultstr)
|
||||
rate.sleep()
|
||||
|
||||
if __name__ == '__main__':
|
||||
try:
|
||||
# 读取结果
|
||||
fresult = open("/home/turtlebot/myresult/result.txt")
|
||||
resultstr = fresult.read(20)
|
||||
talker()
|
||||
print(resultstr)
|
||||
fresult.close()
|
||||
except rospy.ROSInterruptException:
|
||||
pass
|
||||
|
||||
@ -0,0 +1,27 @@
|
||||
#!/usr/bin/env python
|
||||
# -*- coding: UTF-8 -*-
|
||||
|
||||
import rospy
|
||||
from std_msgs.msg import String
|
||||
|
||||
resultstr = "no"
|
||||
def talker():
|
||||
pub = rospy.Publisher('chatter', String, queue_size=10)
|
||||
rospy.init_node('talker', anonymous=True)
|
||||
rate = rospy.Rate(10) # 10hz
|
||||
while not rospy.is_shutdown():
|
||||
rospy.loginfo(resultstr)
|
||||
pub.publish(resultstr)
|
||||
rate.sleep()
|
||||
|
||||
if __name__ == '__main__':
|
||||
try:
|
||||
# 读取结果
|
||||
fresult = open("/home/turtlebot/myresult/result.txt")
|
||||
resultstr = fresult.read(20)
|
||||
talker()
|
||||
print(resultstr)
|
||||
fresult.close()
|
||||
except rospy.ROSInterruptException:
|
||||
pass
|
||||
|
||||
@ -0,0 +1,56 @@
|
||||
#include <user_interface.h>
|
||||
#include <string>
|
||||
#include <locale>
|
||||
#include <codecvt>
|
||||
#include <ctime>
|
||||
#include <time.h>
|
||||
#include <ros/ros.h>
|
||||
#include <std_msgs/String.h>
|
||||
#include <xf_mic_asr_offline/Get_Offline_Result_srv.h>
|
||||
#include <xf_mic_asr_offline/Set_Major_Mic_srv.h>
|
||||
#include <xf_mic_asr_offline/Set_Led_On_srv.h>
|
||||
#include <xf_mic_asr_offline/Get_Major_Mic_srv.h>
|
||||
#include <xf_mic_asr_offline/Pcm_Msg.h>
|
||||
#include <xf_mic_asr_offline/Start_Record_srv.h>
|
||||
#include <xf_mic_asr_offline/Set_Awake_Word_srv.h>
|
||||
#include <xf_mic_asr_offline/Get_Awake_Angle_srv.h>
|
||||
#include <std_msgs/Int8.h>
|
||||
#include <std_msgs/Int32.h>
|
||||
#include <sys/stat.h>
|
||||
bool record_symbol = false;
|
||||
void chatterCallback(const std_msgs::Int32::ConstPtr& msg)
|
||||
{
|
||||
ROS_INFO("I heard: [%d]", msg->data);
|
||||
record_symbol = msg->data;
|
||||
}
|
||||
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
|
||||
ros::init(argc, argv, "start");
|
||||
|
||||
ros::NodeHandle n;
|
||||
ros::Subscriber sub = n.subscribe("whether_reach", 1, chatterCallback);
|
||||
|
||||
ros::spin();
|
||||
|
||||
//删除原有的音频
|
||||
system("rm ~/catkin_ws/src/xf_mic_asr_offline/audio/vvui_deno.pcm");
|
||||
if (record_symbol){
|
||||
//开始录音
|
||||
int symbol_of_start = start_to_record_denoised_sound();
|
||||
//录音10s
|
||||
sleep(10);
|
||||
//停止录音
|
||||
int symbol_of_stop = finish_to_record_denoised_sound();
|
||||
}
|
||||
//修改音频格式
|
||||
system("python ~/catkin_ws/src/xf_mic_asr_offline/audio/change.py");
|
||||
ros::waitForShutdown();
|
||||
//sleep(2);
|
||||
system("python3 /home/turtlebot/mymodel/voiceprint/infer_contrast.py");
|
||||
printf("over!");
|
||||
//关闭麦克风
|
||||
hid_close();
|
||||
return 0;
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
Loading…
Reference in new issue